int* getComPort();
int serialOperation(int portNo, int baudRate, bool status);
int* getStatus(int salveId, int address, int readMode, int count);
int writeDataToRegister(int salveId, int address, int* sendCmdBuf, int count);
int clawEnable(int salveId, bool status);
int rotateEnable(int salveId, bool status);
int runWithoutParam(int salveId, int cmdId);
int rotateWithoutParam(int salveId, int cmdId);
int runWithParam(int salveId, int pos, int speed, int torque);
int runWithParamOfErg32(int salveId, int pos, int speed, int torque);
int rotateWithParam(int salveId, int angle, int speed, int torque, bool absStatus, int cycleNum);
int changeSalveId(int oldId, int newId);
int changeSalveIdOfErg32(int oldId, int newId);
int changeBaudRate(int salveId, int baudRate);
int changeBaudRateOfErg32(int salveId, int baudRate);
int clawEncoderZero(int salveId);
int switchMode(int salveId, int modeIndex);
int getClawCurrentStatus(int salveId);
int getClawCurrentStatusOfErg32(int salveId);
int getRotateCurrentStatusOfErg32(int salveId);
int getClawCurrentLocation(int salveId);
int getClawCurrentLocationOfErg32(int salveId);
int getCurrentAbsAngleOfErg32(int salveId);
int getCurrentRelAngleOfErg32(int salveId);
int getClawCurrentSpeed(int salveId);
int getClawCurrentSpeedOfErg32(int salveId);
int getRotateCurrentSpeedOfErg32(int salveId);
int getClawCurrentTorque(int salveId);
int getClawCurrentTorqueOfErg32(int salveId);
int getRotateCurrentTorqueOfErg32(int salveId);
int getClawCurrentTemperature(int salveId);
int getClawCurrentTemperatureOfErg32(int salveId);
int getClawCurrentVoltage(int salveId);
int getClawCurrentVoltageOfErg32(int salveId);
int* querySoftwareVersion(int salveId);
int* querySoftwareVersionOfErg32(int salveId);

int restartDeviceOfEls(int salveId);
int saveParamOfEls(int salveId);
int enableDeviceOfEls(int salveId, int state);
int controlActionOfEls(int salveId, int state);
int resetDeviceOfEls(int salveId);
int switchTeachingModeOfEls(int salveId, int state);
int joggingForwardOfEls(int salveId, int state);
int joggingReverseOfEls(int salveId, int state);
int setPushSpeedOfEls(int salveId, int data);
int setPullSpeedOfEls(int salveId, int data);
int setPushPowerOfEls(int salveId, int data);
int setPullPowerOfEls(int salveId, int data);
int setPushPositionOfEls(int salveId, int data);
int setPullPositionOfEls(int salveId, int data);
int ioForcedOutputOfEls(int salveId, int data);
int holdingBrakeForcedControlOfEls(int salveId, int data);
int selectCommandSourceOfEls(int salveId, int data);
int changeSalveIdOfEls(int oldId, int newId);
int changeBaudRateOfEls(int salveId, int data);
int getDeviceCurrentStateOfEls(int salveId);
int getDeviceActionStateOfEls(int salveId);
int getDeviceErrorStateOfEls(int salveId);
int getDeciveCurrentLocationOfEls(int salveId);
int getDeviceCurrentTorqueOfEls(int salveId);
int getIoInputMonitoringOfEls(int salveId);
int getIoOutputMonitoringOfEls(int salveId);

int enableDeviceOfEvs(int salveId, int state);
int startOrStopDeviceOfEvs(int salveId, int mode, int runFlag, int breakState);
int startOrStopDeviceOfEvs2(int salveId, int mode, int runFlag, int channelIndex, int breakState);
int switchModeOfEvs(int salveId, int modeIndex);
int writeCustomParamOfEvs(int salveId, int maxPressure, int minPressure, int timeout);
int writeCustomParamOfEvs2(int salveId, int channelNo, int maxPressure, int minPressure, int timeout);
int getDeviceCurrentStateOfEvs(int salveId);
int getDeviceCurrentStateOfEvs2(int salveId, int channelNo);
int getDeviceCurrentVacuumDegreeOfEvs(int salveId);
int getDeviceCurrentVacuumDegreeOfEvs2(int salveId, int channelNo);
int getDeviceCurrentTemperatureOfEvs(int salveId);
int getDeviceCurrentVoltageOfEvs(int salveId);

int enableCollisionOfLepg(int salveId, bool state);
int setCollisionThresholdOfLepg_1(int salveId, int value);
int setCollisionThresholdOfLepg_2(int salveId, int value);
int setCollisionThresholdOfLepg_3(int salveId, int value);
int setDropThresholdOfLepg(int salveId, int value);
int searchRangeOfLepg(int salveId);
int manualSavePositionOfLepg(int salveId);
int setPreImpactOfLepg(int salveId, int value);
int setPreImpactSpeedOfLepg(int salveId, int value);